-
Notifications
You must be signed in to change notification settings - Fork 17.2k
/
SIM_JSON.cpp
473 lines (405 loc) · 14.7 KB
/
SIM_JSON.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
Simulator Connector for JSON based interfaces
*/
#include "SIM_JSON.h"
#if HAL_SIM_JSON_ENABLED
#include <stdio.h>
#include <arpa/inet.h>
#include <errno.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_Logger/AP_Logger.h>
#include <AP_HAL/utility/replace.h>
#include <SRV_Channel/SRV_Channel.h>
#define UDP_TIMEOUT_MS 100
extern const AP_HAL::HAL& hal;
using namespace SITL;
static const struct {
const char *name;
float value;
bool save;
} sim_defaults[] = {
{ "BRD_OPTIONS", 0},
{ "INS_GYR_CAL", 0 },
{ "INS_ACC2OFFS_X", 0.001 },
{ "INS_ACC2OFFS_Y", 0.001 },
{ "INS_ACC2OFFS_Z", 0.001 },
{ "INS_ACC2SCAL_X", 1.001 },
{ "INS_ACC2SCAL_Y", 1.001 },
{ "INS_ACC2SCAL_Z", 1.001 },
{ "INS_ACCOFFS_X", 0.001 },
{ "INS_ACCOFFS_Y", 0.001 },
{ "INS_ACCOFFS_Z", 0.001 },
{ "INS_ACCSCAL_X", 1.001 },
{ "INS_ACCSCAL_Y", 1.001 },
{ "INS_ACCSCAL_Z", 1.001 },
};
JSON::JSON(const char *frame_str) :
Aircraft(frame_str),
sock(true)
{
printf("Starting SITL: JSON\n");
const char *colon = strchr(frame_str, ':');
if (colon) {
target_ip = colon+1;
}
for (uint8_t i=0; i<ARRAY_SIZE(sim_defaults); i++) {
AP_Param::set_default_by_name(sim_defaults[i].name, sim_defaults[i].value);
if (sim_defaults[i].save) {
enum ap_var_type ptype;
AP_Param *p = AP_Param::find(sim_defaults[i].name, &ptype);
if (!p->configured()) {
p->save();
}
}
}
}
/*
Create & set in/out socket
*/
void JSON::set_interface_ports(const char* address, const int port_in, const int port_out)
{
sock.set_blocking(false);
sock.reuseaddress();
if (strcmp("127.0.0.1",address) != 0) {
target_ip = address;
}
control_port = port_out;
printf("JSON control interface set to %s:%u\n", target_ip, control_port);
}
/*
Decode and send servos
*/
void JSON::output_servos(const struct sitl_input &input)
{
size_t pkt_size = 0;
ssize_t send_ret = -1;
if (SRV_Channels::have_32_channels()) {
servo_packet_32 pkt;
pkt.frame_rate = rate_hz;
pkt.frame_count = frame_counter;
for (uint8_t i=0; i<32; i++) {
pkt.pwm[i] = input.servos[i];
}
pkt_size = sizeof(pkt);
send_ret = sock.sendto(&pkt, pkt_size, target_ip, control_port);
} else {
servo_packet_16 pkt;
pkt.frame_rate = rate_hz;
pkt.frame_count = frame_counter;
for (uint8_t i=0; i<16; i++) {
pkt.pwm[i] = input.servos[i];
}
pkt_size = sizeof(pkt);
send_ret = sock.sendto(&pkt, pkt_size, target_ip, control_port);
}
if ((size_t)send_ret != pkt_size) {
if (send_ret <= 0) {
printf("Unable to send servo output to %s:%u - Error: %s, Return value: %ld\n",
target_ip, control_port, strerror(errno), (long)send_ret);
} else {
printf("Sent %ld bytes instead of %lu bytes\n", (long)send_ret, (unsigned long)pkt_size);
}
}
}
/*
very simple JSON parser for sensor data
called with pointer to one row of sensor data, nul terminated
This parser does not do any syntax checking, and is not at all
general purpose
*/
uint32_t JSON::parse_sensors(const char *json)
{
uint32_t received_bitmask = 0;
//printf("%s\n", json);
for (uint16_t i=0; i<ARRAY_SIZE(keytable); i++) {
struct keytable &key = keytable[i];
/* look for section header */
const char *p = strstr(json, key.section);
if (!p) {
// we don't have this sensor
if (key.required) {
printf("Failed to find %s\n", key.section);
return 0;
}
continue;
}
p += strlen(key.section)+1;
// find key inside section
p = strstr(p, key.key);
if (!p) {
if (key.required) {
printf("Failed to find key %s/%s\n", key.section, key.key);
return 0;
}
continue;
}
// record the keys that are found
received_bitmask |= 1U << i;
p += strlen(key.key)+2;
switch (key.type) {
case DATA_UINT64:
*((uint64_t *)key.ptr) = strtoull(p, nullptr, 10);
//printf("%s/%s = %lu\n", key.section, key.key, *((uint64_t *)key.ptr));
break;
case DATA_FLOAT:
*((float *)key.ptr) = atof(p);
//printf("%s/%s = %f\n", key.section, key.key, *((float *)key.ptr));
break;
case DATA_DOUBLE:
*((double *)key.ptr) = atof(p);
//printf("%s/%s = %f\n", key.section, key.key, *((double *)key.ptr));
break;
case DATA_VECTOR3F: {
Vector3f *v = (Vector3f *)key.ptr;
if (sscanf(p, "[%f, %f, %f]", &v->x, &v->y, &v->z) != 3) {
printf("Failed to parse Vector3f for %s/%s\n", key.section, key.key);
return received_bitmask;
}
//printf("%s/%s = %f, %f, %f\n", key.section, key.key, v->x, v->y, v->z);
break;
}
case DATA_VECTOR3D: {
Vector3d *v = (Vector3d *)key.ptr;
if (sscanf(p, "[%lf, %lf, %lf]", &v->x, &v->y, &v->z) != 3) {
printf("Failed to parse Vector3f for %s/%s\n", key.section, key.key);
return received_bitmask;
}
//printf("%s/%s = %f, %f, %f\n", key.section, key.key, v->x, v->y, v->z);
break;
}
case QUATERNION: {
Quaternion *v = static_cast<Quaternion*>(key.ptr);
if (sscanf(p, "[%f, %f, %f, %f]", &(v->q1), &(v->q2), &(v->q3), &(v->q4)) != 4) {
printf("Failed to parse Vector4f for %s/%s\n", key.section, key.key);
return received_bitmask;
}
break;
}
case BOOLEAN:
*((bool *)key.ptr) = strtoull(p, nullptr, 10) != 0;
//printf("%s/%s = %i\n", key.section, key.key, *((unit8_t *)key.ptr));
break;
}
}
return received_bitmask;
}
/*
Receive new sensor data from simulator
This is a blocking function
*/
void JSON::recv_fdm(const struct sitl_input &input)
{
// Receive sensor packet
ssize_t ret = sock.recv(&sensor_buffer[sensor_buffer_len], sizeof(sensor_buffer)-sensor_buffer_len, UDP_TIMEOUT_MS);
uint32_t wait_ms = UDP_TIMEOUT_MS;
while (ret <= 0) {
//printf("No JSON sensor message received - %s\n", strerror(errno));
ret = sock.recv(&sensor_buffer[sensor_buffer_len], sizeof(sensor_buffer)-sensor_buffer_len, UDP_TIMEOUT_MS);
wait_ms += UDP_TIMEOUT_MS;
// if no sensor message is received after 10 second resend servos, this help cope with SITL and the physics getting out of sync
if (wait_ms > 1000) {
wait_ms = 0;
printf("No JSON sensor message received, resending servos\n");
output_servos(input);
}
}
// convert '\n' into nul
while (uint8_t *p = (uint8_t *)memchr(&sensor_buffer[sensor_buffer_len], '\n', ret)) {
*p = 0;
}
sensor_buffer_len += ret;
const uint8_t *p2 = (const uint8_t *)memrchr(sensor_buffer, 0, sensor_buffer_len);
if (p2 == nullptr || p2 == sensor_buffer) {
return;
}
const uint8_t *p1 = (const uint8_t *)memrchr(sensor_buffer, 0, p2 - sensor_buffer);
if (p1 == nullptr) {
return;
}
const uint32_t received_bitmask = parse_sensors((const char *)(p1+1));
if (received_bitmask == 0) {
// did not receive one of the mandatory fields
printf("Did not contain all mandatory fields\n");
return;
}
// Must get either attitude or quaternion fields
if ((received_bitmask & (EULER_ATT | QUAT_ATT)) == 0) {
printf("Did not receive attitude or quaternion\n");
return;
}
if (received_bitmask != last_received_bitmask) {
// some change in the message we have received, print what we got
printf("\nJSON received:\n");
for (uint16_t i=0; i<ARRAY_SIZE(keytable); i++) {
struct keytable &key = keytable[i];
if ((received_bitmask & 1U << i) == 0) {
continue;
}
if (strcmp(key.section, "") == 0) {
printf("\t%s\n",key.key);
} else {
printf("\t%s: %s\n",key.section,key.key);
}
}
printf("\n");
}
last_received_bitmask = received_bitmask;
memmove(sensor_buffer, p2, sensor_buffer_len - (p2 - sensor_buffer));
sensor_buffer_len = sensor_buffer_len - (p2 - sensor_buffer);
accel_body = state.imu.accel_body;
gyro = state.imu.gyro;
velocity_ef = state.velocity;
position = state.position;
position.xy() += origin.get_distance_NE_double(home);
use_time_sync = !state.no_time_sync;
// deal with euler or quaternion attitude
if ((received_bitmask & QUAT_ATT) != 0) {
// if we have a quaternion attitude use it rather than euler
state.quaternion.rotation_matrix(dcm);
} else {
dcm.from_euler(state.attitude[0], state.attitude[1], state.attitude[2]);
}
if ((received_bitmask & AIRSPEED)) {
// received airspeed directly
airspeed = state.airspeed;
airspeed_pitot = state.airspeed;
} else {
// wind is not supported yet for JSON sim, assume zero for now
wind_ef.zero();
// velocity relative to airmass in Earth's frame
velocity_air_ef = velocity_ef - wind_ef;
// velocity relative to airmass in body frame
velocity_air_bf = dcm.transposed() * velocity_air_ef;
// airspeed fix for eas2tas
update_eas_airspeed();
}
// Convert from a meters from origin physics to a lat long alt
update_position();
// update range finder distances
for (uint8_t i=7; i<13; i++) {
if ((received_bitmask & 1U << i) == 0) {
continue;
}
rangefinder_m[i-7] = state.rng[i-7];
}
// update wind vane
if ((received_bitmask & WIND_DIR) != 0) {
wind_vane_apparent.direction = state.wind_vane_apparent.direction;
}
if ((received_bitmask & WIND_SPD) != 0) {
wind_vane_apparent.speed = state.wind_vane_apparent.speed;
}
double deltat;
if (state.timestamp_s < last_timestamp_s) {
// Physics time has gone backwards, don't reset AP
printf("Detected physics reset\n");
deltat = 0;
last_received_bitmask = 0;
} else {
deltat = state.timestamp_s - last_timestamp_s;
}
time_now_us += deltat * 1.0e6;
if (is_positive(deltat) && deltat < 0.1) {
// time in us to hz
if (use_time_sync) {
adjust_frame_time(1.0 / deltat);
}
// match actual frame rate with desired speedup
time_advance();
}
last_timestamp_s = state.timestamp_s;
frame_counter++;
#if 0
float roll, pitch, yaw;
if ((received_bitmask & QUAT_ATT) != 0) {
dcm.to_euler(&roll, &pitch, &yaw);
} else {
roll = state.attitude[0];
pitch = state.attitude[1];
yaw = state.attitude[2];
}
// @LoggerMessage: JSN1
// @Description: Log data received from JSON simulator
// @Field: TimeUS: Time since system startup (us)
// @Field: TStamp: Simulation's timestamp (s)
// @Field: R: Simulation's roll (rad)
// @Field: P: Simulation's pitch (rad)
// @Field: Y: Simulation's yaw (rad)
// @Field: GX: Simulated gyroscope, X-axis (rad/sec)
// @Field: GY: Simulated gyroscope, Y-axis (rad/sec)
// @Field: GZ: Simulated gyroscope, Z-axis (rad/sec)
AP::logger().WriteStreaming("JSN1", "TimeUS,TStamp,R,P,Y,GX,GY,GZ",
"ssrrrEEE",
"F???????",
"Qfffffff",
AP_HAL::micros64(),
state.timestamp_s,
roll,
pitch,
yaw,
gyro.x,
gyro.y,
gyro.z);
Vector3f accel_ef = dcm.transposed() * accel_body;
// @LoggerMessage: JSN2
// @Description: Log data received from JSON simulator
// @Field: TimeUS: Time since system startup (us)
// @Field: VN: simulation's velocity, North-axis (m/s)
// @Field: VE: simulation's velocity, East-axis (m/s)
// @Field: VD: simulation's velocity, Down-axis (m/s)
// @Field: AX: simulation's acceleration, X-axis (m/s^2)
// @Field: AY: simulation's acceleration, Y-axis (m/s^2)
// @Field: AZ: simulation's acceleration, Z-axis (m/s^2)
// @Field: AN: simulation's acceleration, North (m/s^2)
// @Field: AE: simulation's acceleration, East (m/s^2)
// @Field: AD: simulation's acceleration, Down (m/s^2)
AP::logger().WriteStreaming("JSN2", "TimeUS,VN,VE,VD,AX,AY,AZ,AN,AE,AD",
"snnnoooooo",
"F?????????",
"Qfffffffff",
AP_HAL::micros64(),
velocity_ef.x,
velocity_ef.y,
velocity_ef.z,
accel_body.x,
accel_body.y,
accel_body.z,
accel_ef.x,
accel_ef.y,
accel_ef.z);
#endif
}
/*
update the JSON simulation by one time step
*/
void JSON::update(const struct sitl_input &input)
{
// send to JSON model
output_servos(input);
// receive from JSON model
recv_fdm(input);
// update magnetic field
// as the model does not provide mag feild we calculate it from position and attitude
update_mag_field_bf();
// allow for changes in physics step
adjust_frame_time(constrain_float(sitl->loop_rate_hz, rate_hz-1, rate_hz+1));
#if 0
// report frame rate
if (frame_counter % 1000 == 0) {
printf("FPS %.2f\n", rate_hz); // this is instantaneous rather than any clever average
}
#endif
}
#endif // HAL_SIM_JSON_ENABLED